Multi-station picking machine for soft jujube and full-fruit picking method implemented by the same

Abstract

Multi-position picking machine for soft jujube and full fruit picking method realized by the same. The soft jujube lacks a special picking tool for not damaging the fruit in the batch picking process. In the present application, the collecting bottom box is arranged on the vehicle body, the positioning flat frame is horizontally arranged on the collecting bottom box, the front and rear collecting assemblies are arranged at the front end and the rear end of the positioning flat frame respectively, the front and rear multi-directional control position pipes are arranged in the positioning flat frame, the front and rear multi-directional control position pipes are on the same diagonal line of the positioning flat frame, the front multi-directional control position pipe is arranged close to the front end of the vehicle body, the rear multi-directional control position pipe is arranged close to the rear end of the vehicle body, the front multi-directional control position pipe is connected with the top of the front collecting assembly, and the front collecting assembly makes a multi-position swinging action under the driving of the front multi-directional control position pipe; the rear multi-directional control position pipe is connected with the top of the rear collecting assembly, and the rear collecting assembly makes a multi-position swinging action under the driving of the rear multi-directional control position pipe.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-position picking machine for Actinidia arguta and a full-fruit picking method implemented thereby. BACKGROUND

[0002] Actinidia arguta, as a fruit with both nutritional value and unique flavor, has gradually gained popularity among consumers in recent years. Its small and delicate fruit has a delicious taste and is rich in vitamins and various minerals, earning it the title of "super fruit". Actinidia arguta is a large deciduous liana of the family Actinidiaceae and the genus Actinidia. Its small branches are basically hairless or covered with soft and fluffy hair or down when young. The leaves are membranous or papery, ovate, lanceolate, broad ovate to nearly round, with a short sharp tip and a round to shallow heart-shaped base. The back is green. Its flowers are greenish white or yellowish green, fragrant, with ovate to lanceolate sepals and wedge-shaped obovate or flask-shaped broad obovate petals. The filament is filamentous, and the anther is black or dark purple, long and round arrow-shaped. The fruit is round to cylindrical long oval, 2-3 cm long, greenish yellow or purplish red when ripe. The seed is about 2.5 mm long. The fruit of Actinidia arguta generally ripens in autumn, and the fruit is generally spherical with a smooth skin. The fruit is green before it ripens, and the color turns yellowish green or purplish red after it ripens. The fruit is rich in vitamins and trace elements and can be eaten fresh.

[0003] Actinidia arguta belongs to the family Actinidiaceae and the genus Actinidia, and is a vine that grows rapidly and has strong climbing ability. It often grows on trees, fences or specially built supports. This growth pattern makes the fruit widely distributed, increasing the complexity of picking. Due to the dense vines and lush leaves, the fruit of Actinidia arguta is often hidden among the dense branches and leaves, making it difficult to be directly discovered, bringing not a little difficulty to the picking work. The soft jujube kiwi on the same vine may have different ripening times due to factors such as light and nutrient absorption, which requires the picker to carefully distinguish and pick in batches, further increasing the workload and difficulty. Given the growth characteristics and fruit location of Actinidia arguta, manual picking is the main method. However, the fruit at a high place is difficult to reach, and the fruit at a low place may be blocked by vines and leaves, requiring the picker to frequently adjust his position and posture, or even use a ladder or aerial work platform, increasing the safety risk during the picking process. In addition, the fruit skin of Actinidia arguta is relatively thin and can be easily damaged during picking due to squeezing and collision, affecting the quality and storage of the fruit. Therefore, special care is needed during picking, and the fruit should be handled with care, which undoubtedly increases the difficulty and efficiency requirements of picking.

[0004] Currently, there is a lack of continuous and effective special picking tools that ensure complete fruit during the concentrated picking of Actinidia arguta.

[0005] In addition, if you want to keep the freshness of the fruit when picking up the soft jujube, you can keep the fruit stem on the fruit when picking up. If you want to eat it shortly after picking up, you need to pick it up without the fruit stem, which is convenient for transportation and keeping the better fruit appearance. The current picking machine on the market cannot meet the two requirements at the same time. SUMMARY

[0006] In order to overcome the defects of the prior art, a multi-position picking machine for soft jujube and a full fruit picking method thereof are provided to solve the above problems.

[0007] A multi-position picking machine for soft jujube, comprising a vehicle body, a collection bottom box, a positioning flat frame, a front collection assembly, a front multi-directional control pipe, a rear collection assembly and a rear multi-directional control pipe; the vehicle body is horizontally arranged, the collection bottom box is arranged on the vehicle body, the positioning flat frame is horizontally arranged on the collection bottom box, the positioning flat frame is a rectangular frame body, the front collection assembly and the rear collection assembly are arranged at the front end and the rear end of the positioning flat frame respectively, the front multi-directional control pipe and the rear multi-directional control pipe are arranged in the positioning flat frame, the front multi-directional control pipe and the rear multi-directional control pipe are on the same diagonal line of the positioning flat frame, the front multi-directional control pipe is arranged close to the front end of the vehicle body, the rear multi-directional control pipe is arranged close to the rear end of the vehicle body, the front multi-directional control pipe is connected with the top of the front collection assembly, and the front collection assembly makes a multi-position swinging action under the driving of the front multi-directional control pipe; the rear multi-directional control pipe is connected with the top of the rear collection assembly, and the rear collection assembly makes a multi-position swinging action under the driving of the rear multi-directional control pipe.

[0008] As a preferred scheme: the structure of the rear collection assembly is the same as that of the front collection assembly, and the front collection assembly comprises a front collection box, a front flexible storage pipe and a front storage head, the front collection box is a rectangular box body, the front flexible storage pipe is arranged on the front collection box, the lower end of the front flexible storage pipe is communicated with the front collection box, and the upper end of the front flexible storage pipe is provided with the front storage head, the front storage head comprises an outer supporting sleeve, an inner supporting sleeve, a top supporting sleeve, a driving member, a coaxial high-low multi-position knife body, an inner ring gear, a top ring cover and an outer arc gear, the outer supporting sleeve is coaxially connected with the upper end of the front flexible storage pipe, the top supporting sleeve and the inner supporting sleeve are coaxially arranged in the outer supporting sleeve from top to bottom, the lower end of the top supporting sleeve is hingedly connected with the inner supporting sleeve, the top of the outer supporting sleeve is detachably connected with the top ring cover, the inner supporting sleeve is provided with the inner ring gear in the inside of the top supporting sleeve, the coaxial high-low multi-position knife body is arranged in the top supporting sleeve, the top of the coaxial high-low multi-position knife body is hingedly connected with the top ring cover, the outer side of the coaxial high-low multi-position knife body facing the inner ring gear is engaged with the inner ring gear, the top supporting sleeve is provided with the outer arc gear outside, the outer arc gear is engaged with the driving member, the top supporting sleeve makes a rotation motion under the driving of the driving member, and the coaxial high-low multi-position knife body makes a reciprocating swinging cutting motion in the top supporting sleeve under the cooperation of the inner ring gear and the top ring cover.

[0009] As a preferred solution: the coaxial high-low multi-position cutter body comprises three arc-shaped cutter bodies, the arc-shaped cutter bodies are strip-shaped cutter bodies, the three arc-shaped cutter bodies are sequentially arranged from top to bottom along the axial direction of the top support sleeve, the inner side of the arc-shaped cutter body is the cutter blade side, one end of the arc-shaped cutter body is the connecting end, a plurality of teeth meshing with the inner ring gear are processed on the outer wall of the connecting end of the arc-shaped cutter body, the connecting end of the arc-shaped cutter body is hinged to the top ring-shaped cover, the other end of the arc-shaped cutter body is the suspended end, and the cutter blade sides of the three arc-shaped cutter bodies form an omnidirectional deformation cutting port.

[0010] As a preferred solution: each arc-shaped cutter body is arranged obliquely, the connecting end of each arc-shaped cutter body is the high end, the suspended end of each arc-shaped cutter body is the low end, and when the omnidirectional deformation cutting port is in the minimum caliber state, the suspended end of each arc-shaped cutter body is below the cutter blade side of the adjacent other arc-shaped cutter body.

[0011] As a preferred solution: the suspended end of each arc-shaped cutter body abuts against the side surface of the cutter blade side of the adjacent other arc-shaped cutter body.

[0012] As a preferred solution: the structure of the rear multi-directional control position tube is the same as that of the front multi-directional control position tube, the front multi-directional control position tube comprises a first upper hinge support, a first upper arm, a first double-position hinge sleeve, a first lower arm, a second double-position hinge sleeve and a first base, the first base is arranged on the collection bottom box, the first base is hinged with the second double-position hinge sleeve, the first upper arm is vertically arranged, the upper end of the first upper arm is hinged with the front receiving head through the first upper hinge support, the lower end of the first upper arm is hinged with the upper end of the first lower arm through the first double-position hinge sleeve, and the lower end of the first lower arm is hinged on the second double-position hinge sleeve.

[0013] As a preferred solution: it further comprises an electric control assembly, the electric control assembly comprises a camera, a distance measuring sensor, a power supply system and a controller, the camera is arranged on the middle part of the positioning flat bracket, the distance measuring sensor is arranged on the outer wall of the front receiving head, the power supply system and the controller are respectively arranged on the vehicle body, the controller is electrically connected with the power supply system, and the camera and the distance measuring sensor are respectively electrically connected with the controller.

[0014] As a preferred solution: it further comprises an image acquisition device, the lower side of the image acquisition device is arranged on the lower side of the arc-shaped cutter body, and the image acquisition device is installed on the inner side wall of the front receiving head, the image acquisition device comprises a mounting ring, an image acquisition head and a transparent protective cover; the mounting ring is a separable circular ring, a plurality of mounting grooves are formed in the mounting ring, the mounting grooves are equidistantly distributed, a plurality of image acquisition heads are installed in the mounting grooves, the image acquisition heads are 2-6 high-definition cameras, the transparent protective cover is installed on the outside of the mounting grooves, a plurality of fixing holes are formed in the mounting ring, and a counterbore is arranged on the inner side of the fixing hole.

[0015] As a preferred solution: It also includes a stem clamping device, which includes a fixed plate, a clamp, a connecting frame, a clamping frame body, a rotating roller, a driving motor, a conveying belt; Two fixed plates are symmetrically installed on the upper end surface of the front storage head, the outer end surface of the fixed plate is provided with a clamp, the rod body front end of the clamp is provided with a connecting frame, the connecting frame is connected with the clamping frame, the both ends of the clamping frame are provided with concave groove bodies, the rotating rollers are installed in the groove bodies through rotating shafts and bearings, the conveying belt is wound around the two rotating rollers, the rear side of the groove body on the front side is provided with a motor mounting groove, and the driving motor is installed in the motor mounting groove.

[0016] A full fruit picking method is realized by using the multi-position picking machine for soft jujube kiwifruit described in embodiments one, two, three, four, five, six, seven, eight or nine, after determining a soft jujube kiwifruit concentrated picking site, driving the vehicle body, moving the vehicle body to the soft jujube kiwifruit concentrated picking site to realize preliminary positioning, then driving the front multi-directional control pipe, rotating the front multi-directional control pipe to drive the top of the front collection assembly to move until the soft jujube kiwifruit concentrated picking site is in the front flexible storage pipe, the top of the soft jujube kiwifruit concentrated picking site is in the all-directional deformation cutting opening between the blade sides of the three arc-shaped knife bodies of the front storage head, starting the coaxial high-low multi-position knife body, the all-directional deformation cutting opening between the blade sides of the three arc-shaped knife bodies shrinks to complete the cutting process of the top of the soft jujube kiwifruit concentrated picking site, after cutting is completed, the soft jujube kiwifruit concentrated picking site falls into the front collection box through the front flexible storage pipe, and the all-directional deformation cutting opening expands to restore the original state; driving the front multi-directional control pipe again, rotating the front multi-directional control pipe to drive the top of the front collection assembly to move until another soft jujube kiwifruit concentrated picking site is in the front flexible storage pipe, and after being cut again by the coaxial high-low multi-position knife body in the front flexible storage pipe, falling into the front collection box through the front flexible storage pipe.

[0017] The beneficial effects of the present application are:

[0018] The multi-position picking machine for soft jujube kiwifruit in the present application is a small picking machine specially used for picking soft jujube kiwifruit, which can be applied to the picking environment of soft jujube kiwifruit, realize the low and short harvesting and picking process under dense branches and leaves, realize the picking process of the front and rear positions through the cooperation between the vehicle body, the collection bottom box, the positioning flat frame, the front collection assembly, the front multi-directional control pipe, the rear collection assembly and the rear multi-directional control pipe, the picking method is safe, ensures the complete fruit and full fruit collection process before and after picking, and avoids unnecessary extrusion, collision and damage of soft jujube kiwifruit during the picking process.

[0019] The full fruit picking method operation process in the application can realize on-demand control position picking process, the branches and leaves of the fruit concentration part are covered in the front or rear collection assembly, and then the top of the branches and leaves of the fruit concentration part is cut, which maximally avoids direct contact with the soft kiwifruit and avoids unnecessary collision, forms a flexible memory structure form, and is beneficial to batch continuous picking and the alternation or continuous performance of the continuous receiving process.

[0020] The application realizes clamping of the stems of the fruits by two clamping devices, when the fruits are cut off, when the stems need to remain on the fruit trees, the clamping device drives the clamping frame body to reset, when the stems need to be separated from the fruit trees, in the state that the two conveying belts clamp the stems, the driving motor is started, the conveying belts are driven by the driving motor to drive the stems to twist and pull to realize separation of the stems from the fruit trees, and two different requirements of picking fruits are realized, that is, the fruit stem remains on the fruit or the fruit stem is separated from the fruit. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a three-dimensional structure schematic diagram of the application;

[0022] Figure 2 It is a three-dimensional structure schematic diagram of the front receiving head;

[0023] Figure 3 It is a three-dimensional structure schematic diagram of the connection relationship between the coaxial high-low multi-position cutter body, the inner ring-shaped gear, the top-mounted ring-shaped cover and the outer arc-shaped gear, and the view is a top view;

[0024] Figure 4 It is a three-dimensional structure schematic diagram of the connection relationship between the coaxial high-low multi-position cutter body and the top-mounted ring-shaped cover;

[0025] Figure 5 It is a three-dimensional structure schematic diagram of the front multi-directional control position pipe;

[0026] Figure 6 It is a three-dimensional structure schematic diagram of the connection relationship between the front multi-directional control position pipe, the rear multi-directional control position pipe and the positioning flat bracket;

[0027] Figure 7 It is a three-dimensional structure schematic diagram of the vehicle body;

[0028] Figure 8 It is a structure schematic diagram of the front receiving head installing the image acquisition device;

[0029] Figure 9 It is a structure schematic diagram of the image acquisition device;

[0030] Figure 10 It is a structure schematic diagram of the front receiving head installing the stem clamping device;

[0031] Figure 11 It is a structure schematic diagram of the clamping frame body;

[0032] Figure 12 Structure diagram of connecting frame.

[0033] In the figure: 1-vehicle body; 2-collecting bottom box; 3-positioning flat frame; 4-front collecting assembly; 4-1-front collecting box; 4-2-front flexible storage tube; 4-3-front storage head; 4-3-1-outer support sleeve; 4-3-2-inner support sleeve; 4-3-3-top support sleeve; 4-3-4-driving part; 4-3-5-coaxial high-low multi-position cutter body; 4-3-6-inner ring gear; 4-3-7-top ring cover; 4-3-8-outer arc gear; 5-front multi-directional control position tube; 5-1-first upper articulated support; 5-2-first upper arm; 5-3-first double-position articulated sleeve; 5-4-first lower arm; 5-5-second double-position articulated sleeve; 5-6-first base; 6-rear collecting assembly; 7-rear multi-directional control position tube; 8-camera; 11-distance measuring sensor; 12-sliding block; 13-power supply system; 14-controller; 15-hydraulic device; 16-image acquisition device; 16-1-mounting ring; 16-2-image acquisition head; 16-3-transparent protective cover; 16-4-fixing hole; 17-stem clamping device; 17-1-fixing plate; 17-2-clamper; 17-3-connecting frame; 17-4-clamping frame body; 17-5-roller; 17-6-driving motor; 17-7-conveying belt; 17-31-connection head; 43-arc cutter body; 43-1-tooth; 43-2-cutter edge side; 43-3-omnidirectional deformation cutting port. DETAILED DESCRIPTION

[0034] The present application is herein described, by way of example only, with the assistance of specific details to facilitate a thorough understanding of the application. The description is intended only by way of description of the application and is not intended to limit the application in any manner. Various modifications and changes can be made to the application, by those skilled in the art, without departing from the spirit and scope of the application, which is defined by the appended claims.

[0035] Specific embodiment one: combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , and Figure 7The embodiment is illustrated, and the multi-position picking machine for soft jujube kiwifruit in the embodiment comprises a vehicle body 1, a collection bottom box 2, a positioning flat frame 3, a front collection assembly 4, a front multi-directional control tube 5, a rear collection assembly 6 and a rear multi-directional control tube 7. The vehicle body 1 is a small existing vehicle body, and the driving principle thereof is the same as that of an existing small vehicle. The vehicle body 1 is horizontally arranged. The collection bottom box 2 is a terminal storage structure for storing soft jujube kiwifruit in the multi-position picking machine. The collection bottom box 2 is arranged on the vehicle body 1. The optimal length-width ratio of the collection bottom box 2 is 8:1, and the optimal length-width ratio of the collection bottom box 2 is 3:1, so as to form a long and flat content shape, which is beneficial to the picking process of the multi-position picking machine in a low area. The positioning flat frame 3 is horizontally arranged on the collection bottom box 2. The positioning flat frame 3 is a flat rectangular frame body. The positioning flat frame 3 is used to provide a standard arrangement position for the front collection assembly 4, the front multi-directional control tube 5, the rear collection assembly 6 and the rear multi-directional control tube 7, which is beneficial to forming a reasonable cooperation picking relationship among the front collection assembly 4, the front multi-directional control tube 5, the rear collection assembly 6 and the rear multi-directional control tube 7. The specific arrangement is as follows: the front collection assembly 4 and the rear collection assembly 6 are arranged at the front end and the rear end of the positioning flat frame 3 respectively. The front multi-directional control tube 5 and the rear multi-directional control tube 7 are arranged in the positioning flat frame 3. The front multi-directional control tube 5 and the rear multi-directional control tube 7 are on the same diagonal line of the positioning flat frame 3. The front multi-directional control tube 5 is arranged close to the front end of the vehicle body 1. The rear multi-directional control tube 7 is arranged close to the rear end of the vehicle body 1.

[0036] The front multi-directional control tube 5 is used to control the position of the front collection assembly 4, and provides a guiding action for the storage and cutting direction and position of the front collection assembly 4. The front multi-directional control tube 5 is connected with the top of the front collection assembly 4. The front collection assembly 4 makes a multi-position swinging action under the driving of the front multi-directional control tube 5. The multi-position swinging area is a circular arc area, which is used to concentrate the arrangement position of soft jujube kiwifruit. The rear multi-directional control tube 7 is connected with the top of the rear collection assembly 6. The rear collection assembly 6 makes a multi-position swinging action under the driving of the rear multi-directional control tube 7.

[0037] Specific embodiment two: the vehicle body 1 in the embodiment is a self-lifting small vehicle. Four lifting columns are arranged on the top of the vehicle body 1. The four lifting columns make synchronous lifting movements. The collection bottom box 2 is arranged on the four lifting columns. A hydraulic device 15 is arranged on the vehicle body 1 and cooperates with the four lifting columns. The hydraulic device 15 is an existing hydraulic device. The lifting column is an existing sleeve type lifting member. The lifting principle formed by the cooperation of the lifting column and the hydraulic device 15 is the same as that of the existing hydraulic device and the lifting column.

[0038] Specific embodiment three: this embodiment is further limited to specific embodiment one or two, the positioning flat frame 3 includes two rectangular frames, which are arranged horizontally and side by side from top to bottom, and are fixedly connected through four vertical connecting columns between the two rectangular frames. The middle part of each rectangular frame is provided with a crossbar, forming a herringbone support frame. The bottom of the front multi-directional control position pipe 5 is connected with the rectangular frame through a plurality of sliding blocks 12. The bottom of the front multi-directional control position pipe 5 reciprocates along the width direction of the rectangular frame through a plurality of sliding blocks 12, thereby increasing the horizontal translation movement range of the front multi-directional control position pipe 5. The front multi-directional control position pipe 5 cooperates with the front collecting assembly 4 to realize the picking process in the multi-circumferential range along the width direction of the rectangular frame. The front multi-directional control position pipe 5 stays at a position of the rectangular frame through a plurality of sliding blocks 12. The front multi-directional control position pipe 5 drives the front collecting assembly 4 to make a self-rotation movement with the position as the axis, thereby driving the top of the front collecting assembly 4 to make a circular swing action with the position of the front multi-directional control position pipe 5 as the center. The connection relationship and movement path law between the rear collecting assembly 6, the rear multi-directional control position pipe 7 and the positioning flat frame 3 are the same.

[0039] Specific embodiment four: this embodiment is further limited to specific embodiments one, two or three, in this embodiment, the rear collection assembly 6 is a structure of fixed lower and flexible swing, the structure of the rear collection assembly 6 is the same as that of the front collection assembly 4, the front collection assembly 4 includes a front collection box 4-1, a front flexible storage tube 4-2 and a front storage head 4-3, the front collection box 4-1 is a rectangular box, the front flexible storage tube 4-2 is arranged on the front collection box 4-1, the lower end of the front flexible storage tube 4-2 is connected with the front collection box 4-1, the upper end of the front flexible storage tube 4-2 is provided with the front storage head 4-3, the front storage head 4-3 includes an outer support sleeve 4-3-1, an inner support sleeve 4-3-2, a top support sleeve 4-3-3, a driving member 4-3-4, a coaxial high-low multi-position cutter body 4-3-5, an inner ring gear 4-3-6, a top ring cover 4-3-7 and an outer arc gear 4-3-8, the outer support sleeve 4-3-1 is coaxially connected with the upper end of the front flexible storage tube 4-2, the front flexible storage tube 4-2 is a flexible tube which can bend with the direction of external power, the top support sleeve 4-3-3 and the inner support sleeve 4-3-2 are coaxially arranged in the outer support sleeve 4-3-1 from top to bottom, the lower end of the top support sleeve 4-3-3 is hingedly connected with the inner support sleeve 4-3-2, the top of the outer support sleeve 4-3-1 is detachably connected with the top ring cover 4-3-7, the inner ring gear 4-3-6 is arranged in the top support sleeve 4-3-3, the coaxial high-low multi-position cutter body 4-3-5 is arranged in the top support sleeve 4-3-3, the top of the coaxial high-low multi-position cutter body 4-3-5 is hingedly connected with the top ring cover 4-3-7, the outer side of the coaxial high-low multi-position cutter body 4-3-5 towards the inner ring gear 4-3-6 is engaged with the inner ring gear 4-3-6, the outer arc gear 4-3-8 is arranged outside the top support sleeve 4-3-3, the outer arc gear 4-3-8 is engaged with the driving member 4-3-4, the top support sleeve 4-3-3 makes self-rotation motion under the driving of the driving member 4-3-4, the coaxial high-low multi-position cutter body 4-3-5 makes reciprocating swing cutting motion in the top support sleeve 4-3-3 under the cooperation of the inner ring gear 4-3-6 and the top ring cover 4-3-7.

[0040] When the gear is arranged in the driving member 4-3-4 and engaged with the outer arc gear 4-3-8, when the driving member 4-3-4 is started, the rotation of the gear drives the rotation of the outer arc gear 4-3-8, the rotation of the outer arc gear 4-3-8 drives the rotation of the top support sleeve 4-3-3, since the end position of the coaxial high-low multi-position cutter body 4-3-5 is fixed, under the rotation of the top support sleeve 4-3-3, the rotation of the inner ring gear 4-3-6 drives the swing of the coaxial high-low multi-position cutter body 4-3-5, thereby realizing the process of cutting the branches and leaves of the corresponding part of the soft jujube kiwifruit.

[0041] Specific embodiment five: this embodiment is a further limitation of specific embodiments one, two, three or four, in this embodiment, the coaxial high-low multi-position cutter body 4-3-5 includes three arc-shaped cutter bodies 43, which are strip-shaped cutter bodies, the three arc-shaped cutter bodies 43 are sequentially arranged from top to bottom along the axial direction of the top-mounted support sleeve 4-3-3, the inner side of the arc-shaped cutter body 43 is the cutter edge side 43-2, one end of the arc-shaped cutter body 43 is the connecting end, a plurality of teeth 43-1 are machined on the outer wall of the connecting end of the arc-shaped cutter body 43, which are engaged with the inner annular rack 4-3-6, the connecting end of the arc-shaped cutter body 43 is hinged to the top-mounted annular cover 4-3-7, the other end of the arc-shaped cutter body 43 is the suspended end, and the cutter edge sides 43-2 of the three arc-shaped cutter bodies 43 form an omnidirectional deformation cutting port 43-3 therebetween. The omnidirectional deformation cutting port 43-3 is a triangular cutting port.

[0042] Further, the connecting shaft is provided through the connecting end of the arc-shaped cutter body 43 and is fixed to the top-mounted annular cover 4-3-7.

[0043] Working principle:

[0044] The driving member 4-3-4 is formed by a motor cooperating with a gear, the gear is engaged with the outer arc-shaped rack 4-3-8, when the driving member 4-3-4 is started, the gear rotates to drive the outer arc-shaped rack 4-3-8 to rotate, the rotation of the outer arc-shaped rack 4-3-8 drives the top-mounted support sleeve 4-3-3 to rotate, since the connecting shaft is provided through the connecting end of the arc-shaped cutter body 43 and is fixed to the top-mounted annular cover 4-3-7, under the driving of the rotation of the top-mounted support sleeve 4-3-3, the rotation of the inner annular rack 4-3-6 is realized, the inner annular rack 4-3-6 is engaged with the plurality of teeth 43-1, the connecting end of each arc-shaped cutter body 43 is driven to make a horizontal rotation action, thereby driving the suspended end of the arc-shaped cutter body 43 to swing, the omnidirectional deformation cutting port 43-3 formed between the cutter edge sides 43-2 of the three arc-shaped cutter bodies 43 becomes smaller, and the process of cutting the branches and leaves of the corresponding part of the soft jujube kiwifruit is realized. The reverse process of the above process is realized by reversing the driving member 4-3-4, so that the caliber of the omnidirectional deformation cutting port 43-3 becomes larger and returns to the original position, and continuous cutting can be realized next time.

[0045] Specific embodiment six: this embodiment is a further limitation of specific embodiments one, two, three, four or five, each arc-shaped cutter body 43 is arranged obliquely, the connecting end of each arc-shaped cutter body 43 is the high end, and the suspended end of each arc-shaped cutter body 43 is the low end. When the omnidirectional deformation cutting port 43-3 is in the minimum caliber state, the suspended end of each arc-shaped cutter body 43 is below the cutter edge side 43-2 of the adjacent other arc-shaped cutter body 43, a multi-position cutting structure form is formed from the axial direction of the front storage head 4-3, longitudinal multi-position cutting, which further accelerates the synchronous formation of multi-position incisions of the branches and leaves of the soft jujube kiwifruit and is easy to break.

[0046] Specific embodiment seven: the embodiment is further limited to the specific embodiments one, two, three, four, five, six or seven, and in the embodiment, the overhanging end of each arc-shaped cutter body 43 is attached to the side of the blade side 43-2 of the adjacent other arc-shaped cutter body 43.

[0047] Specific embodiment eight: the embodiment is further limited to the specific embodiments one, two, three, four, five, six or seven, and in the embodiment, the rear multi-directional positioning tube 7 has the same structure as the front multi-directional positioning tube 5, the front multi-directional positioning tube 5 includes a first upper hinge support 5-1, a first upper arm 5-2, a first double-position hinge sleeve 5-3, a first lower arm 5-4, a second double-position hinge sleeve 5-5 and a first base 5-6, the first base 5-6 is arranged on the collection box 2, the second double-position hinge sleeve 5-5 is hingedly arranged on the first base 5-6, the first upper arm 5-2 is vertically arranged, the upper end of the first upper arm 5-2 is hingedly connected to the front storage head 4-3 through the first upper hinge support 5-1, and the lower end of the first upper arm 5-2 is hingedly connected to the upper end of the first lower arm 5-4 through the first double-position hinge sleeve 5-3, and the lower end of the first lower arm 5-4 is hingedly connected to the second double-position hinge sleeve 5-5.

[0048] In the embodiment, the first double-position hinge sleeve 5-3 includes a first connecting sleeve and a second connecting sleeve, a double-ball hinge rod is arranged between the first connecting sleeve and the second connecting sleeve, one end of the double-ball hinge rod is hingedly connected to the outer wall of the first connecting sleeve, and the other end of the double-ball hinge rod is hingedly connected to the outer wall of the second connecting sleeve, so as to realize the connection process of forming multiple positions and constant relative distance between the first upper arm 5-2 and the first lower arm 5-4 connected to the first connecting sleeve and the second connecting sleeve.

[0049] Specific embodiment nine: the embodiment is further limited to the specific embodiments one, two, three, four, five, six, seven or eight, and in the embodiment, an electric control assembly is further included, the electric control assembly includes a camera 8, a distance measuring sensor 11, a power supply system 13 and a controller 14, the camera 8 is arranged in the middle of the positioning flat bracket 3, the distance measuring sensor 11 is arranged on the outer wall of the front storage head 4-3, the power supply system 13 and the controller 14 are respectively arranged on the vehicle body 1, the controller 14 is electrically connected to the power supply system 13, and the camera 8 and the distance measuring sensor 11 are respectively electrically connected to the controller 14.

[0050] Specific embodiment ten: in combination with Figures 1 to 7The embodiment is illustrated, and the multi-position picking machine for soft jujube kiwifruit in the embodiment comprises a vehicle body 1, a collection bottom box 2, a positioning flat frame 3, a front collection assembly 4, a front multi-directional control position pipe 5, a rear collection assembly 6 and a rear multi-directional control position pipe 7. The vehicle body 1 is a small existing vehicle body, and the driving principle thereof is the same as that of an existing small vehicle. The vehicle body 1 is horizontally arranged. The collection bottom box 2 is a terminal storage structure for storing soft jujube kiwifruit in the multi-position picking machine. The collection bottom box 2 is arranged on the vehicle body 1. The optimal length-width size ratio of the collection bottom box 2 is 8:1, and the optimal length-width size ratio of the collection bottom box 2 is 3:1, so as to form a long and flat content shape, which is beneficial to the multi-position picking machine to walk in a low area for picking. The positioning flat frame 3 is horizontally arranged on the collection bottom box 2. The positioning flat frame 3 is a flat rectangular frame body. The positioning flat frame 3 is used to provide a standard arrangement position for the front collection assembly 4, the front multi-directional control position pipe 5, the rear collection assembly 6 and the rear multi-directional control position pipe 7, which is beneficial to forming a reasonable cooperation picking relationship among the front collection assembly 4, the front multi-directional control position pipe 5, the rear collection assembly 6 and the rear multi-directional control position pipe 7. The specific arrangement is as follows: the front collection assembly 4 and the rear collection assembly 6 are arranged at the front end and the rear end of the positioning flat frame 3 respectively, and the front multi-directional control position pipe 5 and the rear multi-directional control position pipe 7 are arranged in the positioning flat frame 3. The front multi-directional control position pipe 5 and the rear multi-directional control position pipe 7 are on the same diagonal line of the positioning flat frame 3. The front multi-directional control position pipe 5 is arranged close to the front end of the vehicle body 1, and the rear multi-directional control position pipe 7 is arranged close to the rear end of the vehicle body 1.

[0051] The front multi-directional control position pipe 5 is used to control the position of the front collection assembly 4, and provides a guiding action for the storage and cutting direction and position of the front collection assembly 4. The front multi-directional control position pipe 5 is connected with the top of the front collection assembly 4. The front collection assembly 4 makes a multi-position swinging action under the driving of the front multi-directional control position pipe 5. The multi-position swinging area is a circular arc area, which is used to concentrate the arrangement position of soft jujube kiwifruit. The rear multi-directional control position pipe 7 is connected with the top of the rear collection assembly 6. The rear collection assembly 6 makes a multi-position swinging action under the driving of the rear multi-directional control position pipe 7.

[0052] The full fruit picking method realized by the multi-position picking machine is as follows: after determining a concentrated picking position of the soft jujube, the vehicle body 1 is driven to move to the concentrated picking position of the soft jujube to realize preliminary positioning, then the front multi-position control pipe 5 is driven to rotate to drive the top of the front collecting assembly 4 to move until the concentrated picking position of the soft jujube is in the front flexible storage pipe 4-2, the top of the concentrated picking position of the soft jujube is at the omnidirectional deformation cutting opening 43-3 between the blade sides 43-2 of the three arc-shaped knife bodies 43 of the front storage head 4-3, the coaxial high-low multi-position knife body 4-3-5 is started, the omnidirectional deformation cutting opening 43-3 between the blade sides 43-2 of the three arc-shaped knife bodies 43 is contracted to complete the cutting process of the top of the concentrated picking position of the soft jujube, after the cutting is completed, the concentrated picking position of the soft jujube falls into the front collecting box 4-1 through the front flexible storage pipe 4-2, and the omnidirectional deformation cutting opening 43-3 expands to restore the original state; the front multi-position control pipe 5 is driven again, the front multi-position control pipe 5 rotates to drive the top of the front collecting assembly 4 to move until another concentrated picking position of the soft jujube is in the front flexible storage pipe 4-2, and after being cut again by the coaxial high-low multi-position knife body 4-3-5 in the front flexible storage pipe 4-2, falls into the front collecting box 4-1 through the front flexible storage pipe 4-2.

[0053] The structures and connection relationships not mentioned in the embodiment are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiment.

[0054] In specific work, since the volume of the soft jujube is relatively small, picking one by one has a great impact on efficiency, and therefore, by considering the growth characteristics of the fruit, the adjacent fruits are divided into group fruits in a circular range with a diameter of 100 mm, and the group fruits are identified and picked.

[0055] When the fruits are collected, the fruit image is collected by the camera 8 first, and then analyzed by the controller 14 to find the center point of each group of fruits, and then the front multi-position control pipe 5 is controlled to move to the center point of each group of fruits, and the front storage head 4-3 covers the fruits, whether the front storage head 4-3 reaches the top of the soft jujube shelf is judged by the distance measuring sensor 11, the motor in the driving part 4-3-4 is started to work to cut off the stems of the fruit group, so that the fruit group is picked and falls into the front collecting box 4-1 through the front flexible storage pipe 4-2.

[0056] The front collecting box 4-1 is internally provided with a sponge pad to reduce the damage of the fruits when falling down. The power supply system 13 is arranged on the chassis of the vehicle body 1 and is composed of a battery to supply power to the whole picking machine.

[0057] As Figure 5As shown, the camera 8 is placed in the center of the positioning bracket 3, which facilitates the collection of fruit images. In order to better adapt to the fruit growing environment.

[0058] The multi-site picking machine can achieve batch picking effect. The camera 8 is a binocular camera, which is placed in the center of the multi-site picking machine, and can effectively collect fruit position information. The collected soft jujube image information is analyzed, and similar fruits are divided into groups of fruits with a diameter of 100mm. Each group of fruits is approximately picked as a fruit, and the picking position of multiple fruits can be quickly and simply determined, thereby effectively improving the picking efficiency.

[0059] The top picking structure of the front collection assembly of the multi-site picking machine effectively cuts the stems of multiple fruits, realizing the process of grouping and picking fruits.

[0060] The multi-site picking machine can quickly collect the picked fruit group into the front collection box 4-1 and the rear collection box. The pipe diameter of the front collection assembly is 120mm, and the fruit is relatively small, which can effectively prevent the fruit from being blocked during the collection process.

[0061] The weight of the multi-site picking machine body is controlled by the hydraulic device, which can adjust the height of the chassis to facilitate the replacement of the collection bottom box 2 and the storage of fruits, thereby increasing the adaptability of the device to the site.

[0062] The cooperation between the electric guide rail and the sliding block 12 between the front multi-directional control pipe 5 and the positioning bracket 3 in the multi-site picking machine can quickly move to the predetermined picking coordinates, thereby improving the picking speed. At the same time, the front multi-directional control pipe 5 can effectively improve the picking space of the device through the translational motion of the positioning bracket 3 on the collection bottom box 2.

[0063] Each electric control component in the multi-site picking machine is controlled by the controller 14. Before using the picking machine, the parameters of the soft jujube growing environment, including the path of the site, the shed height, etc., are recorded, so as to facilitate the safe operation of the machine. Considering the weight of the whole machine, the telescopic rod of the chassis is controlled by a hydraulic device, and the power source of the remaining mechanisms is a storage battery.

[0064] Specific implementation method eleven: as Figure 8 , Figure 9As shown, the present embodiment is a further optimization of the pre-collection assembly 4 or post-collection assembly 6 in the tenth specific embodiment. In order to accurately know the position of the stem of the cut fruit for the three arc-shaped cutter bodies 43 of the front collection head 4-3, an image acquisition device 16 is installed in the front collection head 4-3. The scheme is: the image acquisition device 16 is arranged on the lower side of the arc-shaped cutter body 43, the image acquisition device 16 is installed on the inner side wall of the front collection head 4-3, the position of the fruit and the stem is detected through the image acquisition device 16, the position of the arc-shaped blade 43 for cutting the stem can be controlled, and the image acquisition device 16 includes a mounting ring 16-1, an image acquisition head 16-2, and a transparent protective cover 16-3. The mounting ring 16-1 is a detachable circular ring, which is convenient to install. A plurality of mounting grooves are formed on the mounting ring 16-1, the mounting grooves are equidistantly distributed, a plurality of image acquisition heads 16-2 are installed in the mounting grooves, in order to accurately collect information of the fruit, the image acquisition head 16-2 is a 2-6 high-definition camera, the transparent protective cover 16-3 is installed outside the mounting groove, a plurality of fixing holes 16-4 are formed on the mounting ring 16-1, the inner side of the fixing hole 16-4 is provided with a counterbore, the fixing hole 16-4 can be fixed by bolts, and the mounting ring 16-1 is convenient to install. The image acquisition head 16-2 is used to collect the image of the fruit, which is convenient to know the position of the stem and the fruit, so that the three arc-shaped cutter bodies 43 can accurately separate the stem and the fruit, and the fruit is not easy to have extra fruit stems. In order to improve the accuracy of the collected image, a light supplement lamp is installed on the outer edge of the image acquisition head 16-2, the light supplement lamp is used to supplement light, and the detection accuracy can be improved.

[0065] In the present embodiment, the image acquisition device 16 can be installed only in the pre-collection assembly 4 or the post-collection assembly 6 or in both the pre-collection assembly 4 and the post-collection assembly 6.

[0066] The structures and connection relationships not mentioned in the present embodiment are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth or tenth specific embodiment.

[0067] Specific embodiment twelve: Figure 10 、 Figure 11 、 Figure 12As shown, the present embodiment is further optimized based on the eleventh embodiment, and the present embodiment further comprises a stem clamping device 17 to prevent the stems from being clamped between the three arc-shaped cutter bodies 43 when the stems are cut off at one time. The stem clamping device 17 comprises a fixed plate 17-1, a clamp 17-2, a connecting frame 17-3, a clamping frame 17-4, a rotating roller 17-5, a driving motor 17-6, and a conveying belt 17-7. Two fixed plates 17-1 are symmetrically arranged on the upper end surface of the front storage head 4-3. The outer end surface of the fixed plate 17-1 is provided with the clamp 17-2. The rod body front end of the clamp 17-2 is provided with the connecting frame 17-3. The connecting frame 17-3 is connected with the clamping frame 17-4. The two ends of the clamping frame 17-4 are both provided with an inner recessed groove. The rotating roller 17-5 is arranged in the groove through a rotating shaft and a bearing. The two rotating rollers 17-5 are both provided with the conveying belt 17-7. The rear side of the front groove is provided with a motor mounting groove. The driving motor 17-6 is arranged in the motor mounting groove. The rotating shaft of the driving motor 17-6 is connected with the shaft of the front rotating roller 17-5 through a belt.

[0068] Further, the outer side wall of the connecting frame 17-3 is connected with a connecting head 17-31. The inner side wall of the connecting head 17-31 is provided with an inner threaded hole. The inner threaded hole is connected with the outer thread of the rod body front end of the clamp 17-2. The connecting head 17-31 can conveniently and quickly connect the clamp 17-2.

[0069] In order to improve the stability of the stem clamping, the outer side wall of the conveying belt 17-7 is uniformly provided with an anti-skid groove. The anti-skid groove can improve the anti-skid property.

[0070] The stem clamping device 17 of the present embodiment is used in cooperation with the image acquisition device 16 in the eleventh embodiment.

[0071] When the image acquisition device 16 in the eleventh embodiment completes the acquisition and determines the cutting position, the two connecting frames 17-3 are driven to move towards the middle through the two clamps 17-2. The stem clamping is realized through the conveying belt 17-7 on the two connecting frames 17-3. The three arc-shaped cutter bodies 43 are not easy to be clamped on the cutter bodies due to the stem inclination when the stems are cut. The three arc-shaped cutter bodies 43 can cut off the stems at one time. When the stems are cut off, the clamp 17-2 drives the clamping frame 17-4 to reset when the stems need to remain on the fruit trees. When the stems need to be separated from the fruit trees, the driving motor 17-6 is started under the condition that the two conveying belts 17-7 clamp the stems. The stems are twisted and pulled to realize the separation of the stems from the fruit trees through the driving motor 17-6 driving the conveying belt 17-7. The stems are separated from the conveying belt 17-7 to the edge of the conveying belt 17-7, so that the stems are not easy to fall into the front storage head 4-3, thereby preventing the stems from damaging the fruits.

Claims

1. A multi-position harvesting machine for hardy kiwifruit, characterized in that: The system includes a vehicle body (1), a collection base (2), a positioning flat frame (3), a front collection assembly (4), a front multi-directional control tube (5), a rear collection assembly (6), and a rear multi-directional control tube (7). The vehicle body (1) is horizontally positioned, the collection base (2) is mounted on the vehicle body (1), and the positioning flat frame (3) is horizontally mounted on the collection base (2). The positioning flat frame (3) is a rectangular frame. The front collection assembly (4) and the rear collection assembly (6) are respectively located at the front and rear ends of the positioning flat frame (3). The front multi-directional control tube (5) and the rear multi-directional control tube (7) are both located inside the positioning flat frame (3). The multi-directional control tube (5) and the rear multi-directional control tube (7) are located on the same diagonal line of the positioning flat frame (3). The front multi-directional control tube (5) is located near the front end of the vehicle body (1), and the rear multi-directional control tube (7) is located near the rear end of the vehicle body (1). The front multi-directional control tube (5) is connected to the top of the front collection assembly (4), and the front collection assembly (4) makes a multi-position swinging motion under the drive of the front multi-directional control tube (5). The rear multi-directional control tube (7) is connected to the top of the rear collection assembly (6), and the rear collection assembly (6) makes a multi-position swinging motion under the drive of the rear multi-directional control tube (7).The structure of the rear collection assembly (6) is the same as that of the front collection assembly (4). The front collection assembly (4) includes a front collection box (4-1), a front flexible storage tube (4-2), and a front storage head (4-3). The front collection box (4-1) is a rectangular box. The front flexible storage tube (4-2) is installed on the front collection box (4-1). The lower end of the front flexible storage tube (4-2) is connected to the front collection box (4-1). The upper end of the front flexible storage tube (4-2) is provided with a front storage head (4-3). The front storage head (4-3) includes an outer support sleeve (4-3-1), an inner support sleeve (4-3-2), and a top support sleeve. The structure includes a support sleeve (4-3-3), a drive unit (4-3-4), a coaxial high / low multi-position cutter body (4-3-5), an inner annular rack (4-3-6), a top annular cover (4-3-7), and an outer arc-shaped rack (4-3-8). The outer support sleeve (4-3-1) is coaxially connected to the upper end of the front flexible storage tube (4-2). The top support sleeve (4-3-3) and the inner support sleeve (4-3-2) are coaxially arranged inside the outer support sleeve (4-3-1) from top to bottom. The lower end of the top support sleeve (4-3-3) is hinged to the inner support sleeve (4-3-2). The top of the outer support sleeve (4-3-1) is detachably connected. It has a top annular cover (4-3-7), and an inner annular rack (4-3-6) is set inside the top support sleeve (4-3-3). The coaxial high and low multi-position cutter body (4-3-5) is set inside the top support sleeve (4-3-3). The top of the coaxial high and low multi-position cutter body (4-3-5) is hinged to the top annular cover (4-3-7). The coaxial high and low multi-position cutter body (4-3-5) meshes with the inner annular rack (4-3-6) on the outside of the inner annular rack (4-3-6). An outer arc-shaped rack (4-3-8) is set outside the top support sleeve (4-3-3). The outer arc-shaped rack (4-3-8) and the drive component (4- 3-4) Meshing and engagement, the top support sleeve (4-3-3) rotates under the drive of the drive component (4-3-4), and the coaxial high and low multi-position cutter body (4-3-5) performs reciprocating oscillating cutting motion within the top support sleeve (4-3-3) under the cooperation of the inner annular rack (4-3-6) and the top annular cover (4-3-7); it also includes a stem clamping device (17), which includes a fixing plate (17-1), a clamp (17-2), a connecting frame (17-3), a clamping frame body (17-4), a rotating roller (17-5), a drive motor (17-6), and a conveyor belt (17-7).Two fixed plates (17-1) are symmetrically installed on the upper surface of the front receiving head (4-3). A clamp (17-2) is installed on the outer end face of the fixed plate (17-1). A connecting frame (17-3) is installed at the front end of the rod of the clamp (17-2). The connecting frame (17-3) is connected to the clamping frame body (17-4). Both ends of the clamping frame body (17-4) are provided with concave grooves. Rollers (17-5) are installed in the grooves through a rotating shaft and bearings. Conveyor belts (17-7) are wound around the two rollers (17-5). The rear side of the front groove is opened A motor mounting slot is provided, in which a drive motor (17-6) is installed. The shaft of the drive motor (17-6) is connected to the shaft of the front roller (17-5) via a belt. When the fruit is cut, if the stem needs to remain on the tree, the clamp (17-2) drives the clamping frame to reset. If the stem needs to detach from the tree, with the stem clamped by the two conveyor belts (17-7), the drive motor (17-6) is activated. The drive motor (17-6) drives the conveyor belts (17-7) to twist and pull the stem, thus detaching it from the tree.

2. The multi-position harvesting machine for hardy kiwifruit according to claim 1, characterized in that: The coaxial high and low multi-position cutter body (4-3-5) includes three arc-shaped cutter bodies (43). The arc-shaped cutter body (43) is a strip-shaped cutter body. The three arc-shaped cutter bodies (43) are arranged from top to bottom along the axial direction of the top support sleeve (4-3-3). The inner side of the arc-shaped cutter body (43) is the cutting edge side (43-2). One end of the arc-shaped cutter body (43) is the connecting end. Multiple teeth (43-1) that mesh with the inner annular rack (4-3-6) are machined on the outer wall of the connecting end of the arc-shaped cutter body (43). The connecting end of the arc-shaped cutter body (43) is hinged to the top annular cover (4-3-7). The other end of the arc-shaped cutter body (43) is the suspended end. An omnidirectional deformation cutting opening (43-3) is formed between the cutting edge sides (43-2) of the three arc-shaped cutter bodies (43).

3. A multi-position harvesting machine for hardy kiwifruit according to claim 2, characterized in that: Each arc-shaped cutter body (43) is inclined, with the connecting end of each arc-shaped cutter body (43) being the high end and the suspended end of each arc-shaped cutter body (43) being the low end. When the omnidirectional deformation cutting port (43-3) is in the minimum diameter state, the suspended end of each arc-shaped cutter body (43) is below the cutting edge side (43-2) of the adjacent arc-shaped cutter body (43).

4. A multi-position harvesting machine for hardy kiwifruit according to claim 3, characterized in that: The suspended end of each arc-shaped blade (43) rests against the side of the blade side (43-2) of its adjacent arc-shaped blade (43).

5. A multi-position harvesting machine for hardy kiwifruit according to claim 1, characterized in that: The structure of the rear multi-directional control tube (7) is the same as that of the front multi-directional control tube (5). The front multi-directional control tube (5) includes a first upper hinge support (5-1), a first upper arm (5-2), a first double-position hinge sleeve (5-3), a first lower arm (5-4), a second double-position hinge sleeve (5-5), and a first base (5-6). The first base (5-6) is set on the collection bottom box (2). The second double-position hinge sleeve (5-5) is hinged on the first base (5-6). The first upper arm (5-2) is set vertically. The upper end of the first upper arm (5-2) is hinged to the front storage head (4-3) through the first upper hinge support (5-1). The lower end of the first upper arm (5-2) is hinged to the upper end of the first lower arm (5-4) through the first double-position hinge sleeve (5-3). The lower end of the first lower arm (5-4) is hinged to the second double-position hinge sleeve (5-5).

6. A multi-position harvesting machine for hardy kiwifruit according to any one of claims 1 to 5, characterized in that: It also includes an electronic control assembly, which includes a camera (8), a distance sensor (11), a power supply system (13) and a controller (14). The camera (8) is located in the middle of the positioning flat frame (3), the distance sensor (11) is located on the outer wall of the front storage head (4-3), the power supply system (13) and the controller (14) are respectively located on the vehicle body (1), the controller (14) is electrically connected to the power supply system (13), and the camera (8) and the distance sensor (11) are respectively electrically connected to the controller (14).

7. A multi-position harvesting machine for hardy kiwifruit according to any one of claims 1 to 5, characterized in that: It also includes an image acquisition device (16), the lower side of which is located on the lower side of the arc-shaped blade body (43). The image acquisition device (16) is installed on the inner wall of the front storage head (4-3). The image acquisition device (16) includes a mounting ring (16-1), an image acquisition head (16-2), and a transparent protective cover (16-3). The mounting ring (16-1) is a separable ring. Several mounting slots are provided on the mounting ring (16-1). The mounting slots are evenly distributed. Several image acquisition heads (16-2) are installed in the mounting slots. The image acquisition heads (16-2) are 2-6 high-definition cameras. A transparent protective cover (16-3) is installed on the outside of the mounting slots. Several fixing holes (16-4) are provided on the mounting ring (16-1). The inner side of the fixing holes (16-4) is provided with countersunk holes.

8. A method for harvesting whole fruit, implemented using a multi-position harvester for hardy kiwifruit as described in any one of claims 2 to 5, characterized in that: After determining a concentrated harvesting location for hardy kiwifruit, drive the vehicle (1) to move it to the location for initial positioning. Then drive the front multi-directional control tube (5), which rotates to move the top of the front collection assembly (4) until the concentrated harvesting location is positioned in the front flexible storage tube (4-2). The top of the concentrated harvesting location is positioned at the omnidirectional deformation cutting opening (43-3) between the blade sides (43-2) of the three arc-shaped blades (43) of the front storage head (4-3). Start the coaxial high and low multi-position blades (4-3-5), and the omnidirectional deformation between the blade sides (43-2) of the three arc-shaped blades (43) is activated. The cutting opening (43-3) shrinks and becomes smaller to complete the top cutting process of a concentrated picking area of ​​soft-fleshed kiwifruit. After the cutting is completed, the concentrated picking area of ​​soft-fleshed kiwifruit falls into the front collection box (4-1) through the front flexible storage tube (4-2). The omnidirectional deformation cutting opening (43-3) expands and returns to its original shape. Then the front multi-directional control tube (5) is driven. The front multi-directional control tube (5) rotates and drives the top of the front collection assembly (4) to move until another concentrated picking area of ​​soft-fleshed kiwifruit is placed in the front flexible storage tube (4-2). After being cut again by the coaxial high and low multi-position blade (4-3-5) in the front flexible storage tube (4-2), it falls into the front collection box (4-1) through the front flexible storage tube (4-2).

Images